SYMC IMC-01 Montageanleitung
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IMC-01 Controller
User Reference Manual
2018.11
Sanying MotionControl Instruments Ltd.
All rights reserved by Sanying MotionControl Instruments Ltd.
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Contents
THE CHAPTER ONE DEVICE INSTRUCTION............................................................................ 3
1.1PRODUCT DESCRIPTION...................................................................................................................... 3
1.2 FEATURES......................................................................................................................................... 4
1.3 RS485 BUS.......................................................................................................................................5
1.4 OPEN LOOP/CLOSED LOOP................................................................................................................ 5
1.5 PACKAGE CONTENTS........................................................................................................................ 5
1.6 CONTROLLER INSTALLATION............................................................................................................5
1.7 SOFTWARE INSTALLATION................................................................................................................ 6
THE CHAPTER TWO SOFTWARE OPERATION INSTRUCTION..........................................7
2.1 SOFTWARE START-UP INTERFACE...................................................................................................... 7
2.2 CONNECT CONTROLLER................................................................................................................... 7
2.3 STATUS............................................................................................................................................. 8
2.4 MOTION PARAMETERS......................................................................................................................8
2.5 OPEN ORCLOSED LOOP...................................................................................................................8
2.6 MOTION AND MOVING CURVE......................................................................................................... 9
2.7 POSITION.........................................................................................................................................10
2.8 SYSTEM INTERFACE........................................................................................................................ 10
2.9 POLARITY SETTINGS....................................................................................................................... 11
2.10 TEST..............................................................................................................................................11
2.11 MENU............................................................................................................................................11
APPENDIX A: CONTROLLER SPECIFICATIONS....................................................................................... 14
APPENDIX B: INSTALL USB DRIVER.....................................................................................................15
APPENDIX C: TROUBLESHOOTING........................................................................................................ 17
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The Chapter One Device Instruction
1.1product description
The IMC-01 is a high modular integrated piezoelectric motor controller and driver，It can be
used as a standalone single axis，or stacked as a compact multi-axis control system。It can drive a
piezoelectric motor with a resolution as fine as 1 nm in open loop (motor dependent). The closed
loop resolution is dependent on the resolution of the encoder.
The panel front and panel back are shown in Fig 1.1 and Fig 1.2:
1. LED Error Indicator
Red – An error has occurred
2. LED Addressing Indicator
a. Red – Stage is Unaddressed
b. Green – Stage has an address
3. Motor/Axis Output, male D-SUB 9Pin Connector
4. Encoder Input, Female D-SUB 9 Pin Connector
5. Power Supply, +5VDC, Regulated
6. RS485 Intermodular Connector
7. USB Connector
8. I/O Connector
Encoder Input Pin-Out
Pin
Color
Description
1
Brown
A+/Cos+
2
Red
B+/Sin+
3
Orange
Index +
4
Yellow
Ground
5
Green
+5V
6
Blue
A-/Cos-
7
Purple
B-/Sin-
8
Grey
Index -
9
Black
Not In Use
Fig 1.1 panel front
Fig 1.2 panel back
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Motor Input Pin-Out
8 Pin IO Connector
RS-485 Intermodular Connector Cable Pin-out
The RS-485 intermodular connector cable is used to daisy chain two modules
together. The cable is directional and its orientation should be noted when configuring axis
numbers, for the direction of the cable will determine axis order. This connector can also be used
to communicate with the controller in place of the USB connection by connecting your RS-485
Bus to pins 2, 3 and 4 as they appear below.
1.2 Features
Integrated controller and driver
Can be used as a single axis or stackable up to 99 axes
Open loop or closed loop operation
Open loop resolution of 1 nm
Closed loop resolution dependent on the encoder
A quad B encoder feedback
USB2.0 interface (one interface for up to 99 axes)
Pin
Description
1
Phase 1
2
Phase 2
3
N/C
4
Not In Use
5
Ground
6
Limit -
7
Limit +
8
+5V
9
Ground
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Dimension：145 x 85 x 25(mm)
1.3 RS485 Bus
The RJ11 connector of RS485 intermodular connects directly to the same RS485 bus.The
RS485 line needs a terminating resistor of 22kΩ or higher. This connector can be used to
communicate with the Controller in the place of the USB connection.
1.4 Open loop/closed loop
The Controller has three different movement modes of operation. When executing a
movement, the controller will drive a stage differently when set to different modes.
The first mode(Legacy Open Loop) is a traditional Open Loop. It follows a standard
trapezoidal velocity characteristic. It bases the transition between acceleration, constant velocity
and deceleration. This is entirely theoretical and does not guarantee a set trajectory or end point.
The second mode(Special Open Loop) is also open loop, however this one does not follow
the standard trapezoidal velocity set by the user. Instead, it rounds off the velocity to an even
number of servo clocks per transition. This causes the motor to sound much cleaner than the
previous mode. However it does sacrifice accuracy.
The third mode (Closed Loop) is a traditional closed loop. The controller will constantly try
to achieve an ideal trapezoidal velocity characteristic. Like the previous mode it can guarantee
position final within the specified deadband.
1.5 Package Contents
The Piezo motor system includes the following components:
IMC-01 Controller
Power Supply
USB Cable
One User Manual
One U Disk For storing Software
Carefully remove the items from the package. Report any damage or missing items immediately
by phone (+86 022-22977677) or e-mail (info@symc-tec.com).
1.6 Controller Installation
1.6.1、Place the controller on a hard flat surface
1.6.2、Connect the male D-SUB( 9-pin )piezo motor cable to the Motor Input
1.6.3、Connect the female D-SUB(9-pin) encoder adapter cable to the Encoder Input if this
controller provide encoder,the other side of that cable to encoder head
1.6.4、Connect USB cable to USB Connector ,the other side of that cable to PC
1.6.5、Connect the controller to a 5V, regulated power supply included in your order.Each
Controller requires 1A. If powering a stack; add up the amperage requirements of the
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individual controllers to determine the necessary power supply for the stack
1.6.6、See the COM Port assigned to the Controller int the device manager after powering up
1.7 Software Installation
There are two procedures for Software Installation:
1、Install USB driver. The installation file can be found in U-disk/driver. Please refer to
appendix B for details.
2、Install control software. Installation file can be found in U-disk/bin/Setup.exe. Double
click Setup.exe, follow instructions to complete the installation.
The controller software requires pre-installation of Microsoft .NET Framework 4.0. If
that component hasn't been installed in your PC yet, please find the installation file in
U-disk/bin/Microsoft.NET Framework 4.exe. Double click and install it.
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The Chapter Two Software Operation Instruction
2.1 Software start-up interface
This section will describe the capabilities of the controller program and give you a brief
understanding of how to use it，the star-up interface of controller is shown in Fig 2.1.The bottom
area of interface is used to connect controller.The center of interface is used for status
displaying.The top of interface is used for parameters setting and moving curve.
Fig 2. 1 Software start-up interface
2.2 Connect Controller
You need to connect the controller through a serial port before doing anything. The device
manager detects the new hardware but cannot assign the serial number to the controller if the
driver is not installed, so you need install the USB driver firstly and set the serial port parameters
as follows:
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Serial Port Parameter
Setting
Baud rate
38400
Data Bits
8
Stop Bits
1
Parity
No
Handshake
No
Please select the serial port number assigned by the system to the controller,then
click ”Open” button in Fig2.2 to connect controller and enumerate all axes attached to this
controller at the same time; The button name will change from “Open” to “Close” and the status
area will display:”COM7:Open Success”,Axis field will list all axes enumerated if connection is
successful;otherwise status area will display ”COM7:Open Fail”.
Fig 2. 2 connect
Fig 2. 3 connect success
2.3 Status
“Connection phase” Display the connection status such as:Begin to Scan Axis ......, and the
number of axes enumerated, etc.
“Motion phase” Display whether reach the position of positive or negative soft limit or not.
2.4 Motion Parameters
“Move Mode”This field indicates the moving mode.Normal set low resolution，high
resolution can move in nanometer scale
“Vel” This field indicates the controllers current set value for velocity
“Accel” This field indicates the controllers current set value for acceleration
“Decel” This field indicates the controllers current set value for acceleration
2.5 Open Or Closed Loop
“Loop” This field allows you to choose 3 different modes of motion
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“Kp”- Proportional Gain for closed loop
“Ki”- Integral Gain for closed loop
“Kd”- Differential Gain for closed loop
2.6 Motion And Moving Curve
This section allows you to control movement of a stage attached to your controller：
“Target” - This field shows the target for an absolute move that will be executed upon
pressing the adjacent‘GO’ button
“STOP” - This button will execute an Emergency Stop
“Increment” This field indicates the amount of displacement a relative move will travel
upon pressing one of the adjacent ‘-’,’+’ buttons
“Curve”This button will control to display curve.
“Clear Curve”- This button will clear curve data.
图2. 4 Moving Curve
Table 3.1 Function description of toolbar buttons
Change curve display to default status
Select the curve in the window, hold left button of the mouse and move it, the
position of the curve will be changed
Allows the users to zoom in the X-axis and Y-axis by placing and dragging the
mouse over the axis of interest.
To zoom the selected part of the curve
Display or hide the cursor. Cursor can be dragged and moved.
Save the curve data
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2.7 Position
“Calc” This is the calculated position based on the number of steps
“Enc” This is the feedback position of encoder assuming one is attached
“Zero” This button sets the current position to zero for both the calculated and encoder
reading
2.8 System Interface
This section allows you to set motion parameters, encoder polarity,motor polarity and loop
motion between two positions etc.
Fig 2.5 “System”interface
“Deadband” This setting changes the amount of error the closed loop control mode will
allow before trying to reposition
“Max Velocity”- Maximum allowed Velocity
“Max Acceleartor” - Maximum Allowed Acceleration
“-Travel Limit” - The soft travel limit in the negative direction
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